Design of multi-sensor attitude determination systems

Demoz Gebre-Egziabher, Roger C. Hayward, J. David Powell

Research output: Contribution to journalArticlepeer-review

225 Scopus citations


The design of inexpensive multi-sensor attitude determination systems is discussed. The systems discussed fuse information from a triad of solid state rate gyros with an aiding system mechanized using GPS or magnetometers and accelerometers. Euler angle and quaternion-based sensor fusion algorithms are developed. Methods for gain scheduling and estimator pole placement are presented. Using simulation and flight test results, it is shown that quaternion-based algorithms simplify gain scheduling and improve transient response.

Original languageEnglish (US)
Pages (from-to)627-649
Number of pages23
JournalIEEE Transactions on Aerospace and Electronic Systems
Issue number2
StatePublished - Apr 2004

Bibliographical note

Funding Information:
This work was sponsored by a research grant from the Federal Aviation Administration Satellite Program Office and a NASA-Langley technology transfer grant from Seagull Technology Inc.


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